Λεπτομέρειες βιβλιογραφικής εγγραφής
| Τίτλος: |
Macroscopic constraint-based modeling and dynamic simulation for manipulation with a belt-attached hand. |
| Συγγραφείς: |
Ichikura, Hinano1 ichikura@ims.mech.eng.osaka-u.ac.jp, Higashimori, Mitsuru1 |
| Πηγή: |
International Journal of Robotics Research. Sep2026, Vol. 45 Issue 10, p1520-1538. 19p. |
| Θεματικοί όροι: |
Dynamic simulation, Flexible structures, Manipulators (Machinery), Prehension (Physiology), Linear complementarity problem, Computer simulation, Rolling friction |
| Περίληψη: |
This study aims to develop a novel modeling and analysis method based on macroscopic constraints for manipulation with a belt-attached hand. In a mesh-based model where a flexible body is divided into smaller parts and analysis is based on local constraints, the complexity of the model depends on the number of elements and scale of the belt. In contrast, the proposed model has the advantage of allowing dynamic analysis with a small number of unknown variables and constraints because it formulates the adaptive deformation of the belt into the object shape as macroscopic constraints. First, a generalized complementarity condition concerning tautness and adaptive deformation of a cloth-like flexible body and tension is introduced, and the belt-object system is modeled. Subsequently, a dynamic analysis combining algorithms to update the contact state and a mixed nonlinear complementarity problem to satisfy constraints is introduced. Finally, translation involving rolling and slipping, continuous rotation by fingertip vibration, and fixation by grasping the object on the belt are simulated based on the proposed method, and the results are compared with those of a real experiment. We confirmed the efficacy of the proposed method in reproducing the various dynamic behaviors of the belt-object system, including rolling, slipping, and collisions. [ABSTRACT FROM AUTHOR] |
|
Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| Βάση Δεδομένων: |
Business Source Index |